Actuators

Integrating nano- to micro-sized dielectric fillers to elastomer matrices to form dielectric composites is one of the commonly utilized methods to improve the performance of dielectric elastomer actuators (DEAs). Barium titanate (BaTiO3) is among the widely used ferroelectric fillers for this purpose; however, calcium copper titanate CaCu3Ti4O12 (CCTO) has the potential to outperform such conventional fillers. Despite their promising performance, CCTO-based dielectric composites for DEA application are studied to a relatively lower degree. Particularly, the composites are characterized for a comparably small particle loading range, while critical DEA properties such as breakdown strength and nonlinear elasticity are barely addressed in the literature. Thus, in this study, CCTO was paired with polydimethylsiloxane (CH3)3SiO[Si(CH3)2O]nSi(CH3)3 (PDMS), Sylgard 184, to gain a comprehensive understanding of the effects of particle loading and size on the dielectric composite properties ...

We propose a dynamics model of galvanotaxis (locomotor response to electrical stimulus) of the protozoan Paramecium. Our purpose is to utilize microorganisms as micro- robots by using galvanotaxis. For precise and advanced actuation, it is necessary to describe the dynamics of galvanotaxis in a mathematical and quantitative manner in the framework of robotics. However, until now the explanation of Paramecium galvanotaxis in previous works has remained only qualitative. In this paper, we construct a novel model of galvanotaxis as a minimal step to utilizing Paramecium cells as micro-robots. Numerical experiments for our model demonstrate realistic behaviors, such as U-turn motions, like those of real cells. Index Terms—Paramecium, galvanotaxis, dynamics, model, microrobot

The stiffness of an actuator depends on the closed-loop position control (architecture and parameters), on the load frequency, and, for fault-tolerant actuators, on the operative mode. The stiffness response is of basic importance for the design of actuators for primary flight controls, especially for high-performance aircrafts. Actually, in-flight conditions characterized by high speed and high angle-of-attack, the dynamic interactions between aircraft structure, actuator, and aerodynamic loads can induce aeroservoelastic effects, which, if not controlled, can imply performance degradation and even instability. The study and the compensation of such concerns require the assessment of the resonant frequencies of the aeroservoelastic system, which can be performed only by characterizing the dynamic stiffness of the actuator. This article reports the experimental activities carried out for the characterization of the stiffness response of a fault-tolerant fly-by-wire actuator for the primary flight controls of a modern jet trainer, starting from the feasibility studies of the experiments up to the execution of the vibration tests. The actuator stiffness performance is evaluated in different fail-operative modes by artificially injecting hydraulic and electrical failures, and the experimental data are interpreted by means of an LTI model of the flight actuator, highlighting and discussing the effects that the failures induce on the stiffness performance.

The current paper deals with the study of the electrical failures in fault-tolerant flight actuators, with particular reference to the short circuits of the servovalve coils. A highfidelity model of the servovalve of a modern fly-by-wire actuator is developed and validated through experiments, focusing attention on the characterization of the component dynamics in case of partial and total short circuits of the direct-drive motor coils. The servovalve model is then used to simulate a typical on-ground built-in-test procedure to determine the limit condition for the detection of a partial short circuit. Finally, once different possible combinations of short circuits are injected, the degradation of performances of the whole actuator is characterized through experiments, and the servovalve model is used to justify the test results, highlighting and discussing the effects of the failures on the system dynamics.